PD2-C-IP CANopen Online Manual

2052h Encoder Resolution

Function

Contains the physical resolution of the encoder that is used for commutation.

Object description


Index 2052h
Object name Encoder Resolution
Object Code VARIABLE
Data type INTEGER32
Savable yes, category: tuning
Access read / write
PDO mapping no
Allowed values  
Preset value 00000000h
Firmware version FIR-v1426
Change history

Firmware version FIR-v1540: "Savable" entry changed from "no" to "yes, category: tuning".


Description

A negative value means that the encoder is driven in the opposite direction of the motor. This can be corrected by reversing the polarity of a motor winding.

Tip: The unit is "pulses per revolution" (ppr), which corresponds to four times the resolution in "counts per revolution" (cpr) (quadrature). This means that for an encoder with a resolution of, e.g., 1000 increments per revolution, the value in 2052h is 4000.
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